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Modicon M241
Logic Controller
User Guide
06/2021
EIO0000004267.01 06/2021 2
Table of Contents
Part I1 Modicon M241 Logic Controller - Programming Guide. . . . . . . . . 
 PLC System Library Guide. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Part II
3 Modicon M241 Logic Controller - High Speed Counting
 HSC Library Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Part III
4 Modicon M241 Logic Controller - PTOPWM Library Guide. . . . . . Part IV
5 Modicon M241 Logic Controller - Hardware Guide. . . . . . . . . . . . Part V
6 Modicon TMC4 Cartridges - Programming Guide. . . . . . . . . . . . . Part VI
7 Modicon TMC4 Cartridges - Hardware Guide. . . . . . . . . . . . . . . . . Part VII
2 Modicon M241 Logic Controller - System Functions and Variables 
Modicon M241
Logic Controller
Programming Guide
EIO0000003059.03
04/2021
www.se.com
Legal Information
The Schneider Electric brand and any trademarks of Schneider Electric SE and its
subsidiaries referred to in this guide are the property of Schneider Electric SE or its
subsidiaries. All other brands may be trademarks of their respective owners.
This guide and its content are protected under applicable copyright laws and
furnished for informational use only. No part of this guide may be reproduced or
transmitted in any form or by any means (electronic, mechanical, photocopying,
recording, or otherwise), for any purpose, without the prior written permission of
Schneider Electric.
Schneider Electric does not grant any right or license for commercial use of the guide
or its content, except for a non-exclusive and personal license to consult it on an "as
is" basis. Schneider Electric products and equipment should be installed, operated,
serviced, and maintained only by qualified personnel.
As standards, specifications, and designs change from time to time, information
contained in this guide may be subject to change without notice.
To the extent permitted by applicable law, no responsibility or liability is assumed by
Schneider Electric and its subsidiaries for any errors or omissions in the informational
content of this material or consequences arising out of or resulting from the use of the
information contained herein.
© 2021 Schneider Electric. All rights reserved.
Table of Contents
Safety Information ......................................................................................7
About the Book...........................................................................................8
About the Modicon M241 Logic Controller ..................................................13
M241 Logic Controller Description........................................................13
How to Configure the Controller .................................................................17
How to Configure the Controller ...........................................................17
Libraries ..................................................................................................19
Libraries.............................................................................................19
Supported Standard Data Types ................................................................20
Supported Standard Data Types ..........................................................20
Memory Mapping......................................................................................21
Controller Memory Organization...........................................................21
RAM Memory Organization..................................................................22
Non-Volatile Memory Organization .......................................................23
Relocation Table .................................................................................26
Tasks.......................................................................................................28
Maximum Number of Tasks .................................................................28
Task Configuration Screen...................................................................28
Task Types .........................................................................................30
System and Task Watchdogs ...............................................................32
Task Priorities .....................................................................................33
Default Task Configuration...................................................................35
Controller States and Behaviors ................................................................36
Controller State Diagram .....................................................................36
Controller State Diagram ...............................................................36
Controller States Description ...............................................................39
Controller States Description..........................................................39
State Transitions and System Events ...................................................42
Controller States and Output Behavior ............................................42
Commanding State Transitions ......................................................45
Error Detection, Types, and Management .......................................51
Remanent Variables ......................................................................52
Controller Device Editor ............................................................................54
Controller Parameters .........................................................................54
Communication Settings......................................................................55
PLC Settings ......................................................................................56
Services.............................................................................................56
Ethernet Services ...............................................................................57
Users Rights ......................................................................................58
Embedded Inputs and Outputs Configuration..............................................67
Embedded I/Os Configuration..............................................................67
Expert Functions Configuration..................................................................71
Expert Functions Overview..................................................................71
Counting Function...............................................................................73
Pulse Generators Embedded Function .................................................74
Cartridge Configuration .............................................................................76
TMC4 Cartridge Configuration .............................................................76
Expansion Modules Configuration..............................................................77
EIO0000003059.03 3
TM4/TM3/TM2 Expansion Module Configuration ...................................77
TM3 I/O Configuration General Description...........................................78
TM3 I/O Bus Configuration ..................................................................81
Optional I/O Expansion Modules ..........................................................82
Ethernet Configuration ..............................................................................85
Ethernet Features, Functions and Services...........................................85
Presentation .................................................................................85
IP Address Configuration ...............................................................86
Modbus TCP Client/Server ............................................................90
Web Server ..................................................................................91FTP Server ................................................................................. 101
FTP Client .................................................................................. 102
SNMP ........................................................................................ 102
Controller as a Target Device on EtherNet/IP................................. 103
Controller as a Slave Device on Modbus TCP ............................... 119
Changing the Modbus TCP Port ................................................... 123
Firewall Configuration ....................................................................... 124
Introduction ................................................................................ 124
Dynamic Changes Procedure....................................................... 125
Firewall Behavior ........................................................................ 126
Firewall Script Commands ........................................................... 128
Industrial Ethernet Manager .................................................................... 131
Industrial Ethernet............................................................................. 131
DHCP Server ................................................................................... 134
Fast Device Replacement.................................................................. 134
Serial Line Configuration ......................................................................... 135
Serial Line Configuration ................................................................... 135
Machine Expert Network Manager ..................................................... 136
Modbus Manager.............................................................................. 137
ASCII Manager ................................................................................. 140
Modbus Serial IOScanner.................................................................. 141
Adding a Device on the Modbus Serial IOScanner............................... 142
Adding a Modem to a Manager .......................................................... 147
CANopen Configuration .......................................................................... 149
CANopen Interface Configuration....................................................... 149
J1939 Configuration................................................................................ 152
J1939 Interface Configuration ............................................................ 152
OPC UA Server Configuration ................................................................. 155
OPC UA Server Overview.................................................................. 155
OPC UA Server Configuration............................................................ 155
OPC UA Server Symbols Configuration .............................................. 157
OPC UA Server Performance ............................................................ 158
Post Configuration .................................................................................. 161
Post Configuration Presentation......................................................... 161
Post Configuration File Management.................................................. 162
Post Configuration Example .............................................................. 163
Connecting a Modicon M241 Logic Controller to a PC ............................... 166
Connecting the Controller to a PC ...................................................... 166
SD Card................................................................................................. 169
Script Files ....................................................................................... 169
SD Card Commands ......................................................................... 169
4 EIO0000003059.03
Firmware Management ........................................................................... 175
Updating Modicon M241 Logic Controller Firmware............................. 175
Updating TM3 Expansion Modules Firmware ...................................... 177
Compatibility .......................................................................................... 180
Software and Firmware Compatibilities............................................... 180
Appendices .............................................................................................. 181
How to Change the IP Address of the Controller ........................................ 182
changeIPAddress: Change the IP address of the controller .................. 182
Functions to Get/Set Serial Line Configuration in User Program ................. 184
GetSerialConf: Get the Serial Line Configuration ................................. 184
SetSerialConf: Change the Serial Line Configuration ........................... 185
SERIAL_CONF: Structure of the Serial Line Configuration Data
Type ................................................................................................ 186
Controller Performance ........................................................................... 188
Processing Performance ................................................................... 188
Glossary ................................................................................................... 189
Index ......................................................................................................... 199
EIO0000003059.03 5
Safety Information
Safety Information
Important Information
Read these instructions carefully, and look at the equipment to become familiar
with the device before trying to install, operate, service, or maintain it. The
following special messages may appear throughout this documentation or on the
equipment to warn of potential hazards or to call attention to information that
clarifies or simplifies a procedure.
Please Note
Electrical equipment should be installed, operated, serviced, and maintained only
by qualified personnel. No responsibility is assumed by Schneider Electric for any
consequences arising out of the use of this material.
A qualified person is one who has skills and knowledge related to the construction
and operation of electrical equipment and its installation, and has received safety
training to recognize and avoid the hazards involved.
The addition of this symbol to a “Danger” or “Warning” safety label indicates that an 
electrical hazard exists which will result in personal injury if the instructions are not 
followed.
This is the safety alert symbol. It is used to alert you to potential personal injury 
hazards. Obey all safety messages that follow this symbol to avoid possible injury or 
death.
DANGER indicates a hazardous situation which, if not avoided, will result in death or serious 
injury.
! DANGER
WARNING indicates a hazardous situation which, if not avoided, could result in death or 
serious injury.
WARNING!
CAUTION indicates a hazardous situation which, if not avoided, could result in minor or 
moderate injury.
CAUTION!
NOTICE is used to address practices not related to physical injury.
NOTICE
EIO0000003059.03 7
About the Book
About the Book
Document Scope
The purpose of this document is to help you program and operate your Modicon
M241 Logic Controller with the EcoStruxure Machine Expert software.
NOTE: Read and understand this document and all related documents, page
8 before installing, operating, or maintaining your Modicon M241 Logic
Controller.
The Modicon M241 Logic Controller users should read through the entire
document to understand its features.
Validity Note
This document has been updated for the release of EcoStruxureTM Machine
Expert V2.0.
The technical characteristics of the devices described in the present document
also appear online. To access the information online, go to the Schneider Electric
home page www.se.com.
The characteristics that are described in the present document should be the
sameas those characteristics that appear online. In line with our policy of constant
improvement, we may revise content over time to improve clarity and accuracy. If
you see a difference between the document and online information, use the online
information as your reference.
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About the Book
Product Related Information
WARNING
LOSS OF CONTROL
• The designer of any control scheme must consider the potential failure
modes of control paths and, for certain critical control functions, provide a
means to achieve a safe state during and after a path failure. Examples of
critical control functions are emergency stop and overtravel stop, power
outage and restart.
• Separate or redundant control paths must be provided for critical control
functions.
• System control paths may include communication links. Consideration must
be given to the implications of unanticipated transmission delays or failures
of the link.
• Observe all accident prevention regulations and local safety guidelines.1
• Each implementation of this equipment must be individually and thoroughly
tested for proper operation before being placed into service.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.
1 For additional information, refer to NEMA ICS 1.1 (latest edition), "Safety
Guidelines for the Application, Installation, and Maintenance of Solid State
Control" and to NEMA ICS 7.1 (latest edition), "Safety Standards for Construction
and Guide for Selection, Installation and Operation of Adjustable-Speed Drive
Systems" or their equivalent governing your particular location.
WARNING
UNINTENDED EQUIPMENT OPERATION
• Only use software approved by Schneider Electric for use with this
equipment.
• Update your application program every time you change the physical
hardware configuration.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.
Terminology Derived from Standards
The technical terms, terminology, symbols and the corresponding descriptions in
this manual, or that appear in or on the products themselves, are generally
derived from the terms or definitions of international standards.
In the area of functional safety systems, drives and general automation, this may
include, but is not limited to, terms such as safety, safety function, safe state, fault,
fault reset, malfunction, failure, error, error message, dangerous, etc.
Among others, these standards include:
Standard Description
IEC 61131-2:2007 Programmable controllers, part 2: Equipment requirements and tests.
ISO 13849-1:2015 Safety of machinery: Safety related parts of control systems.
General principles for design.
EN 61496-1:2013 Safety of machinery: Electro-sensitive protective equipment.
Part 1: General requirements and tests.
ISO 12100:2010 Safety of machinery - General principles for design - Risk assessment
and risk reduction
EIO0000003059.03 11
About the Book
Standard Description
EN 60204-1:2006 Safety of machinery - Electrical equipment of machines - Part 1: General
requirements
ISO 14119:2013 Safety of machinery - Interlocking devices associated with guards -
Principles for design and selection
ISO 13850:2015 Safety of machinery - Emergency stop - Principles for design
IEC 62061:2015 Safety of machinery - Functional safety of safety-related electrical,
electronic, and electronic programmable control systems
IEC 61508-1:2010 Functional safety of electrical/electronic/programmable electronic safety-
related systems: General requirements.
IEC 61508-2:2010 Functional safety of electrical/electronic/programmable electronic safety-
related systems: Requirements for electrical/electronic/programmable
electronic safety-related systems.
IEC 61508-3:2010 Functional safety of electrical/electronic/programmable electronic safety-
related systems: Software requirements.
IEC 61784-3:2016 Industrial communication networks - Profiles - Part 3: Functional safety
fieldbuses - General rules and profile definitions.
2006/42/EC Machinery Directive
2014/30/EU Electromagnetic Compatibility Directive
2014/35/EU Low Voltage Directive
In addition, terms used in the present document may tangentially be used as they
are derived from other standards such as:
Standard Description
IEC 60034 series Rotating electrical machines
IEC 61800 series Adjustable speed electrical power drive systems
IEC 61158 series Digital data communications for measurement and control – Fieldbus for
use in industrial control systems
Finally, the term zone of operation may be used in conjunction with the description
of specific hazards, and is defined as it is for a hazard zone or danger zone in the
Machinery Directive (2006/42/EC) and ISO 12100:2010.
NOTE: The aforementioned standards may or may not apply to the specific
products cited in the present documentation. For more information concerning
the individual standards applicable to the products described herein, see the
characteristics tables for those product references.
12 EIO0000003059.03
About the Modicon M241 Logic Controller
About the Modicon M241 Logic Controller
Introduction
This chapter provides information about the Modicon M241 Logic Controller and
devices that EcoStruxure Machine Expert can configure and program.
M241 Logic Controller Description
Overview
The M241 Logic Controller has various powerful features and can service a wide
range of applications.
Software configuration, programming, and commissioning is accomplished with
the EcoStruxure Machine Expert software described in detail in the EcoStruxure
Machine Expert Programming Guide and the M241 Logic Controller Programming
Guide, page 8.
Programming Languages
The M241 Logic Controller is configured and programmed with the EcoStruxure
Machine Expert software, which supports the following IEC 61131-3 programming
languages:
• IL: Instruction List
• ST: Structured Text
• FBD: Function Block Diagram
• SFC: Sequential Function Chart
• LD: Ladder Diagram
EcoStruxure Machine Expert software can also be used to program these
controllers using CFC (Continuous Function Chart) language.
Power Supply
The power supply of the M241 Logic Controller is 24 Vdc or 100...240 Vac.
Real Time Clock
The M241 Logic Controller includes a Real Time Clock (RTC) system (see
Modicon M241 Logic Controller, Hardware Guide).
Run/Stop
The M241 Logic Controller can be operated by the following:
• A hardware Run/Stop switch.
• A Run/Stop operation by a dedicated digital input, defined in the software
configuration. For more information, refer to Configuration of Digital Inputs,
page 67.
• An EcoStruxure Machine Expert software command.
Memory
This table describes the different types of memory:
EIO0000003059.03 13
About the Modicon M241 Logic Controller
Memory Type Size Used to
RAM 64 Mbytes, of which 8 Mbytes
available for the application
execute the application.
Non-volatile 128 Mbytes save the program and data in case of a
power interruption.
Embedded Inputs/Outputs
The following embedded I/O types are available, depending on the controller
reference:
• Regular inputs
• Fast inputs associated with counters
• Regular sink/source transistor outputs
• Fast sink/source transistor outputs associated with pulse generators
• Relay outputs
Removable Storage
The M241 Logic Controllers include an embedded SD card slot.
The main uses of the SD card are:
• Initializing the controller with a new application
• Updating the controller and expansion module firmware, page 175
• Applying post configuration files to the controller, page 161
• Storing recipes files
• Receiving data logging files
• Backup Data Logging File, page 25
Embedded Communication Features
The following types of communication ports are available, depending on the
controller reference:
• CANopen Master
• Ethernet
• USB Mini-B
• Serial Line 1
• Serial Line 2
Expansion Module and Bus Coupler Compatibility
Refer to the compatibility tables in the EcoStruxure Machine Expert - Compatibility
and Migration User Guide.
M241 Logic Controller
Reference Digital Inputs Digital Outputs Communication Ports Terminal Type Power supply
TM241C24R 6 regular inputs (1)
8 fast inputs
(counters) (2)
6 2A relay outputs
4 source fast outputs
(pulse generators)(3)
2 serial line ports
1 USB programming
port
Removable screw
terminal blocks
100...240 Vac
TM241CE24R 6 regular inputs (1)
8 fast inputs
(counters) (2)
6 2A relay outputs
4 source fast outputs
(pulse generators) (3)
2 serial line ports
1 USB programming
port
Removable screw
terminal blocks
100...240 Vac
14 EIO0000003059.03
About the Modicon M241 Logic Controller
Reference Digital Inputs Digital Outputs Communication Ports Terminal Type Power supply
1 Ethernet port
TM241CEC24R 6 regular inputs (1)
8 fast inputs
(counters) (2)
6 2A relay outputs
4 source fast outputs
(pulse generators)(3)
2 serial line ports
1 Ethernet port
1 CANopen master port
1 USB programming
port
Removable screw
terminal blocks
100...240 Vac
TM241C24T 6 regular inputs (1)
8 fast inputs
(counters) (2)
Source outputs
6 regular transistor
outputs
4 fast outputs (pulse
generators) (3)
2 serial line ports
1 USB programming
port
Removable screw
terminal blocks
24 Vdc
TM241CE24T 6 regular inputs (1)
8 fast inputs
(counters) (2)
Source outputs
6 regular transistor
outputs
4 fast outputs (pulse
generators) (3)
2 serial line ports
1 USB programming
port
1 Ethernet port
Removable screw
terminal blocks
24 Vdc
TM241CEC24T 6 regular inputs (1)
8 fast inputs
(counters) (2)
Source outputs
6 regular transistor
outputs
4 fast outputs (pulse
generators) (3)
2 serial line ports
1 USB programming
port
1 Ethernet port
1 CANopen master port
Removable screw
terminal blocks
24 Vdc
TM241C24U 6 regular inputs (1)
8 fast inputs
(counters) (2)
Sink outputs
6 regular transistor
outputs
4 fast outputs (pulse
generators) (3)
2 serial line ports
1 USB programming
port
Removable screw
terminal blocks
24 Vdc
TM241CE24U 6 regular inputs (1)
8 fast inputs
(counters) (2)
Sink outputs
6 regular transistor
outputs
4 fast outputs (pulse
generators) (3)
2 serial line ports
1 USB programming
port
1 Ethernet port
Removable screw
terminal blocks
24 Vdc
TM241CEC24U 6 regular inputs (1)
8 fast inputs
(counters) (2)
Sink outputs
6 regular transistor
outputs
4 fast outputs (pulse
generators) (3)
2 serial line ports
1 USB programming
port
1 Ethernet port
1 CANopen master port
Removable screw
terminal blocks
24 Vdc
TM241C40R 16 regular inputs (1)
8 fast inputs
(counters) (2)
12 2A relay outputs
4 source fast outputs
(pulse generators) (3)
2 serial line ports
1 USB programming
port
Removable screw
terminal blocks
100...240 Vac
TM241CE40R 16 regular inputs (1)
8 fast inputs
(counters) (2)
12 2A relay outputs
4 source fast outputs
(pulse generators) (3)
2 serial line ports
1 USB programming
port
1 Ethernet port
Removable screw
terminal blocks
100...240 Vac
TM241C40T 16 regular inputs (1)
8 fast inputs
(counters) (2)
Source outputs
12 regular transistor
outputs
4 fast outputs (pulse
generators) (3)
2 serial line ports
1 USB programming
port
Removable screw
terminal blocks
24 Vdc
TM241CE40T 16 regular inputs (1) Source outputs 2 serial line ports Removable screw
terminal blocks
24 Vdc
EIO0000003059.03 15
About the Modicon M241 Logic Controller
Reference Digital Inputs Digital Outputs Communication Ports Terminal Type Power supply
8 fast inputs
(counters) (2)
12 regular transistor
outputs
4 fast outputs (pulse
generators) (3)
1 USB programming
port
1 Ethernet port
TM241C40U 16 regular inputs (1)
8 fast inputs
(counters) (2)
Sink outputs
12 regular transistor
outputs
4 fast outputs (pulse
generators) (3)
2 serial line ports
1 USB programming
port
Removable screw
terminal blocks
24 Vdc
TM241CE40U 16 regular inputs (1)
8 fast inputs
(counters) (2)
Sink outputs
12 regular transistor
outputs
4 fast outputs (pulse
generators) (3)
2 serial line ports
1 USB programming
port
1 Ethernet port
Removable screw
terminal blocks
24 Vdc
(1) The regular inputs have a maximum frequency of 1 kHz.
(2) The fast inputs can be used either as regular inputs or as fast inputs for counting or event functions.
(3) The fast transistor outputs can be used either as regular transistor outputs, as reflex outputs for counting function (HSC), or as fast
transistor outputs for pulse generator functions (FreqGen / PTO / PWM).
Delivery Content
The following figure presents the content of the delivery for a M241 Logic
Controller:
1 M241 Logic Controller Instruction Sheet
2 M241 Logic Controller
3 Lithium carbon monofluoride battery, type Panasonic BR2032.
16 EIO0000003059.03
How to Configure the Controller
How to Configure the Controller
Introduction
This chapter shows the default configuration of a project.
How to Configure the Controller
Introduction
First, create a new project or open an existing project in the EcoStruxure Machine
Expert software.
Refer to the EcoStruxure Machine Expert Programming Guide for information on
how to:
• add a controller to your project
• add expansion modules to your controller
• replace an existing controller
• convert a controller to a different but compatible device
Devices Tree
The Devices tree presents a structured view of the hardware configuration. When
you add a controller to your project, a number of nodes are added to the Devices
tree, depending on the functions the controller provides.
Item Use to Configure...
DI Embedded digital inputs of the logic controller
DQ Embedded digital outputs of the logic controller
Counters Embedded counting functions (HSC)
Pulse_Generators Embedded pulse generator functions (PTO/PWM/FreqGen)
Cartridge_x Cartridges inserted into the logic controller
EIO0000003059.03 17
How to Configure the Controller
Item Use to Configure...
IO_Bus Expansion modules connected to the logic controller
COM_Bus Communications bus of the logic controller
Ethernet_x Embedded Ethernet, serial line, or CANopen communications
interfaces
NOTE: Ethernet and CANopen are only available on some
references.
Serial_Line_x
CAN_x
Applications Tree
The Applications tree allows you to manage project-specific applications as well
as global applications, POUs, and tasks.
Tools Tree
The Tools tree allows you to configure the HMI part of your project and to manage
libraries.
18 EIO0000003059.03
Libraries
Libraries
Introduction
This chapter describes the default libraries of the Modicon M241 Logic Controller.
Libraries
Introduction
Libraries provide functions, function blocks, data types and global variables that
can be used to develop your project.
The Library Manager of EcoStruxure Machine Expert provides information about
the libraries included in your project and allows you to install new ones. For more
information on the Library Manager, refer to the Functions and Libraries User
Guide.
Modicon M241 Logic Controller
When you select a Modicon M241 Logic Controller for your application,
EcoStruxure Machine Expert automatically loads the following libraries:
Library name Description
IoStandard CmpIoMgr configuration types, ConfigAccess, Parameters and help functions: manages the I/Os in
the application.
Standard Contains functions and function blocks which are required matching IEC61131-3 as standard POUs
for an IEC programming system. Link the standard POUs to the project (standard.library).
Util Analog Monitors, BCD Conversions, Bit/Byte Functions, Controller Datatypes, Function Manipulators,
Mathematical Functions, Signals.
PLCCommunication SysMem, Standard. These functions facilitate communications between specific devices. Most of
them are dedicated to Modbus exchange. Communication functions are processed asynchronously
with regard to the application task that called the function. (See EcoStruxure Machine Expert,
Modbus and ASCII Read/Write Functions, PLCCommunication Library Guide).
M241 PLCSystem Contains functions and variables to get information and send commands to the controller system.
(See Modicon M241 Logic Controller, System Functions and Variables, PLCSystem Library Guide).
M241 HSC Contains function blocks and variables to get information and send commands to theFast Inputs/
Outputs of the Modicon M241 Logic Controller. These function blocks permit you to implement HSC
(High Speed Counting) functions on the Fast Inputs/Outputs of the Modicon M241 Logic Controller.
(See Modicon M241 Logic Controller, High Speed Counting, HSC Library Guide).
M241 PTOPWM Contains function blocks and variables to get information and send commands to the Fast Inputs/
Outputs of the Modicon M241 Logic Controller. These function blocks permit you to implement PTO
(Pulse Train Output) and PWM (Pulse Width Modulation) functions on the Fast Outputs of the
Modicon M241 Logic Controller. (See Modicon M241 Logic Controller, PTOPWM, Library Guide).
Relocation Table Allows you organization of data to optimize exchanges between the Modbus client and the controller,
by regrouping non-contiguous data into a contiguous table of registers. See Relocation Table, page
26.
EIO0000003059.03 19
Supported Standard Data Types
Supported Standard Data Types
Introduction
This chapter provides the different IEC data types supported by the controller.
Supported Standard Data Types
Supported Standard Data Types
The controller supports the following IEC data types:
Data Type Lower Limit Upper Limit Information Content
BOOL FALSE TRUE 1 Bit
BYTE 0 255 8 Bit
WORD 0 65,535 16 Bit
DWORD 0 4,294,967,295 32 Bit
LWORD 0 264-1 64 Bit
SINT -128 127 8 Bit
USINT 0 255 8 Bit
INT -32,768 32,767 16 Bit
UINT 0 65,535 16 Bit
DINT -2,147,483,648 2,147,483,647 32 Bit
UDINT 0 4,294,967,295 32 Bit
LINT -263 263-1 64 Bit
ULINT 0 264-1 64 Bit
REAL 1.175494351e-38 3.402823466e+38 32 Bit
STRING 1 character – 1 character = 1 byte
WSTRING 1 character – 1 character = 1 word
TIME 0 4294967295 32 Bit
For more information on ARRAY, LTIME, DATE, TIME, DATE_AND_TIME, and
TIME_OF_DAY, refer to the EcoStruxure Machine Expert Programming Guide.
20 EIO0000003059.03
Memory Mapping
Memory Mapping
Introduction
This chapter describes the memory maps and sizes of the different memory areas
in the Modicon M241 Logic Controller. These memory areas are used to store
user program logic, data and the programming libraries.
Controller Memory Organization
Introduction
The controller memory is composed of two types of physical memory:
• The non-volatile memory, page 23 contains files (application, configuration
files, and so on).
• The Random Access Memory (RAM), page 22 is used for application
execution.
Files Transfers in Memory
Item Controller State File Transfer Events Connection Description
1 – Initiated automatically at
Power ON and Reboot
Internal Files transfer from non-volatile memory to RAM.
The content of the RAM is overwritten.
2 All states except
INVALID_OS (1)
Initiated by user Ethernet or USB
programming port
Files can be transferred via:
• Web server, page 91
• FTP server, page 101
• Controller Assistant
• EcoStruxure Machine Expert
3 All states Initiated automatically by
script (data transfer) or by
power cycle (cloning)
when an SD card is
inserted
SD card Up/download with SD card (1).
(1) If the controller is in the INVALID_OS state, the only accessible memory is the SD card and only for firmware upgrades.
EIO0000003059.03 21
Memory Mapping
NOTE: The modification of files in non-volatile memory does not affect a
running application. Any changes to files in non-volatile memory are taken into
account at the next reboot.
RAM Memory Organization
Introduction
This section describes the RAM (Random Access Memory) size for different areas
of the Modicon M241 Logic Controller.
Memory Mapping
The RAM size is 64 Mbytes.
The RAM is composed of 2 areas:
• dedicated application memory
• OS memory
This table describes the dedicated application memory:
Area Element Size
System
area
192 Kbytes
System Area Mappable Addresses
%MW0...%MW59999
128 Kbytes
System and diagnostic variables, page 23
(%MW60000...%MW60199)
This memory is accessible through Modbus requests only.
These must be read-only requests.
Dynamic Memory Area: Read Relocation Table, page 26
(%MW60200...%MW61999)
This memory is accessible through Modbus requests only.
These must be read-only requests.
System and diagnostic variables, page 23
(%MW62000...%MW62199)
This memory is accessible through Modbus requests only.
These can be read or write requests.
Dynamic Memory Area: Write Relocation Table, page 26
(%MW62200...%MW63999)
This memory is accessible through Modbus requests only.
These can be read or write requests.
%MW64000…%MW65535
Reserved
Retain and Persistent data, page 23 64 Kbytes
User area
8 Mbytes
Symbols Dynamic
allocation
Variables
Application
Libraries
22 EIO0000003059.03
Memory Mapping
System and Diagnostic Variables
Variables Description
PLC_R Structure of controller read-only system variables.
PLC_W Structure of controller read/write system variables.
ETH_R Structure of Ethernet read-only system variables.
ETH_W Structure of Ethernet read/write system variables.
PROFIBUS_R Structure of PROFIBUS DP read-only system variables.
SERIAL_R Structure of Serial Lines read-only system variables.
SERIAL_W Structure of Serial Lines read/write system variables.
TM3_MODULE_R Structure of TM3 modules read-only system variables.
For more information on system and diagnostic variables, refer to Modicon M241
Logic Controller System Functions and Variables PLCSystem Library Guide.
Memory Addressing
This table describes the memory addressing for the address sizes Double Word
(%MD), Word (%MW), Byte (%MB), and Bit (%MX):
Double
Words
Words Bytes Bits
%MD0 %MW0 %MB0 %MX0.7 ... %MX0.0
%MB1 %MX1.7 ... %MX1.0
%MW1 %MB2 %MX2.7 ... %MX2.0
%MB3 %MX3.7 ... %MX3.0
%MD1 %MW2 %MB4 %MX4.7 ... %MX4.0
%MB5 %MX5.7 ... %MX5.0
%MW3 %MB6 %MX6.7 ... %MX6.0
%MB7 %MX7.7 ... %MX7.0
%MD2 %MW4 %MB8 %MX8.7 ... %MX8.0
... ... ... ...
... ... ... ... ...
... ... ... ...
Example of overlap of memory ranges:
%MD0 contains %MB0 (...) %MB3, %MW0 contains %MB0 and %MB1, %MW1
contains %MB2 and %MB3.
NOTE: The Modbus communication is asynchronous with the application.
Non-Volatile Memory Organization
Introduction
The non-volatile memory contains the file system used by the controller.
File Type
The Modicon M241 Logic Controller manages the following file types:
EIO0000003059.03 23
Memory Mapping
Type Description
Boot application This file resides in non-volatile memory and contains the compiled binary code of the executable
application. Each time the controller is rebooted, the executable application is extracted from the boot
application and copied into the controller RAM (1).
Application source Source file that can be uploaded from non-volatile memory to the PC if the source file is not available on
the PC (2).
Post configuration File that contains Ethernet, serial line, and firewall parameters.
The parameters specified in the file override the parameters in the executable application at each reboot.
Data logging Files in which the controller logs events as specified by the application.
HTML page HTML pages displayed by the web server for the website embedded in the controller.
Operating System (OS) Controller firmware that can be written to non-volatile memory. The firmware file is applied at next reboot
of the controller.
Retain variable Remanent variables
Retain-persistent variable
(1): The creation of a boot application is optional in EcoStruxure Machine Expert, according to application properties. Default option is to
create the boot application on download. When you download an application from EcoStruxure Machine Expert to the controller, you are
transferring only the binary executable application directly to RAM
(2): EcoStruxure Machine Expert does not support uploading of either the executable application or the boot application to a PC for
modification. Program modifications must be made to the application source. When you download your application, you have the option to
store the source file to non-volatile memory.
File Organization
This table shows the file organizationof the non-volatile memory:
Disk Directory File Content Up/Downloaded
Data Type
/sys OS M241M251FW1v_XX.YY (1) Firmware of core 1 Firmware
M241M251FW2v_XX.YY (1) Firmware of core 2
Version.ini Control file for firmware version
Web Index.htm HTML pages served by the web server for the
website embedded in the controller.
Website
Conf.htm –
/usr App Application.app Boot application Application
Application.crc –
Application.map –
Archive.prj (2) Application source –
settings.conf (3) OPC UA configuration Configuration
OpcUASymbolConf.map (3) OPC UA symbols configuration Configuration
Cfg Machine.cfg (2) Post configuration file, page 161 Configuration
CodesysLateConf.cfg (2) • Name of application to launch
• Routing table (main/sub net)
Configuration
/usr Log UserDefinedLogName_1.log All *.log files created using the data logging
functions (see EcoStruxure Machine Expert -
Data Logging Functions - DataLogging Library
Guide). You must specify the total number of
files created and the names and contents of
each log file.
log file
UserDefinedLogName_n.log –
Rcp Main directory for recipe –
Syslog crashC1.txt(2)
crashC2.txt(2)
crashBoot.txt(2)
This file contains a record of detected system
errors. For use by Schneider Electric Technical
Support.
Log file
PlcLog.txt (2) This file contains system event data that is also
visible online in EcoStruxure Machine Expert
–
24 EIO0000003059.03
Memory Mapping
Disk Directory File Content Up/Downloaded
Data Type
by viewing the Log tab of the Controller
Device Editor, page 54.
FwLog.txt This file contains a record of firmware system
events. For use by Schneider Electric Technical
Support.
–
/usr Fdr/FDRS (4)
only for
TM241CE•
Device1.prm Parameter files stored by the FDR client
device1
FDR, page 134
/data – – Retained and persistent data –
/sd0 – – SD card. Removable –
– User files – –
(1): v_XX.YY represents the version
(2): if any
(3): if OPC UA, page 155 is configured
(4): the Fdr/FDRS directory is hidden
NOTE: For more information on libraries and available function blocks, refer to
Libraries, page 19.
Files Redirection
When system, program or certain user activity creates specific file types, the M241
Logic Controller examines the file extension and automatically moves the file to a
corresponding folder in non-volatile memory.
The following table lists the file types that are moved in this way and the
destination folder in non-volatile memory:
File extensions Non-volatile memory folder
*.app, *.ap_, *.err, *.crc, *.frc, *.prj /usr/App
*.cfg, *.cf_ /usr/Cfg
*.log /usr/Log
*.rcp, *.rsi /usr/Rcp
Backup Data Logging File
Data logging files can become large to the point of exceeding the space available
in the file system. Therefore, you should develop a method to archive the log data
periodically on an SD card. You could split the log data into several files, for
example LogMonth1, LogMonth2, and use the ExecuteScript (see Modicon
M241 Logic Controller, System Functions and Variables, PLCSystem Library
Guide) command to copy the first file to an SD card. Afterwards, you may remove
it from the internal file system while the second file is accumulating data. If you
allow the data logging file to grow and exceed the limits of the file size, you could
lose data.
NOTICE
LOSS OFAPPLICATION DATA
• Backup SD card data regularly.
• Do not remove power or reset the controller, and do not insert or remove the
SD card while it is being accessed.
Failure to follow these instructions can result in equipment damage.
EIO0000003059.03 25
Memory Mapping
Relocation Table
Introduction
The Relocation Table allows you to organize data to optimize communication
between the controller and other equipment by regrouping non-contiguous data
into a contiguous table of located registers, accessible through Modbus.
NOTE: A relocation table is considered an object. Only one relocation table
object can be added to a controller.
Relocation Table Description
This table describes the Relocation Table organization:
Register Description
60200...61999 Dynamic Memory Area: Read Relocation Table
62200...63999 Dynamic Memory Area: Write Relocation Table
For further information, refer to Modicon M241 Logic Controller PLCSystem –
Library Guide.
Adding a Relocation Table
This table describes how to add a Relocation Table to your project:
Step Action
1 In the Applications tree tab, select the Application node.
2 Click the right mouse button.
3 Click Objects > Relocation Table....
Result: The Add Relocation Table window is displayed.
4 Click Add.
Result: The new relocation table is created and initialized.
NOTE: As a relocation table is unique for a controller, its name is Relocation Table
and cannot be changed.
Relocation Table Editor
The relocation table editor allows you to organize your variables in the relocation
table.
To access the relocation table editor, double-click the Relocation Table node in
the Tools tree tab:
26 EIO0000003059.03
Memory Mapping
This picture describes the relocation table editor:
Icon Element Description
New Item Adds an element to the list of system variables.
Move Down Moves down the selected element of the list.
Move Up Moves up the selected element of the list.
Delete Item Removes the selected elements of the list.
Copy Copies the selected elements of the list.
Paste Pastes the elements copied.
Erase Empty
Item
Removes all the elements of the list for which the "Variable" column is
empty.
- ID Automatic incremental integer (not editable).
- Variable The name or the full path of a variable (editable).
- Address The address of the system area where the variable is stored (not
editable).
- Length Variable length in word.
- Validity Indicates if the entered variable is valid (not editable).
NOTE: If a variable is undefined after program modifications, the content of
the cell is displayed in red, the related Validity cell is False, and Address is
set to -1.
EIO0000003059.03 27
Tasks
Tasks
Introduction
The Task Configuration node in the Applications tree allows you to define one
or more tasks to control the execution of your application program.
The task types available are:
• Cyclic
• Freewheeling
• Event
• External event
This chapter begins with an explanation of these task types and provides
information regarding the maximum number of tasks, the default task
configuration, and task prioritization. In addition, this chapter introduces the
system and task watchdog functions and explains its relationship to task
execution.
Maximum Number of Tasks
Maximum Number of Tasks
The maximum number of tasks you can define for the Modicon M241 Logic
Controller are:
• Total number of tasks = 19
• Cyclic tasks = 5
• Freewheeling tasks = 1
• Event tasks = 8
• External Event tasks = 16
Special Considerations for Freewheeling
A Freewheeling task, page 31 does not have a fixed duration. In Freewheeling
mode, each task scan starts when the previous scan has been completed and
after a period of system processing (30% of the total duration of the Freewheeling
task). If the system processing period is reduced to less than 15% for more than 3
seconds due to interruptions by other tasks, a system error is detected. For more
information, refer to the System Watchdog, page 32.
NOTE: You may wish to avoid using a Freewheeling task in a multi-task
application when some high priority and time-consuming tasks are running.
Doing so may provoke a task Watchdog Timeout. You should not assign
CANopen to a freewheeling task. CANopen should be assigned to a cyclic
task.
Task Configuration Screen
Screen Description
This screen allows you to configure the tasks. Double-click the task that you want
to configure in the Applications tree to access this screen.
Each configuration task has its own parameters that are independent of the other
tasks.
28 EIO0000003059.03
Tasks
The Configuration window is composed of 4 parts:
The table describes the fields of the Configuration screen:
Field Name DefinitionPriority Configure the priority of each task with a number from 0 to 31 (0 is the highest
priority, 31 is the lowest).
Only one task at a time can be running. The priority determines when the task runs:
a higher priority task pre-empts a lower priority task.
NOTE: Do not assign tasks with the same priority. If there are yet other tasks
that attempt to pre-empt tasks with the same priority, the result could be
indeterminate and unpredicable. For important information, refer to Task
Priorities, page 33.
Type These task types are available:
• Cyclic, page 30
• Event, page 31
• External , page 32
• Freewheeling, page 31
Watchdog To configure the watchdog, page 33, define these 2 parameters:
• Time: enter the timeout before watchdog execution.
• Sensitivity: defines the number of expirations of the watchdog timer before
the controller stops program execution and enters a HALT state.
POUs The list of POUs (see EcoStruxure Machine Expert, Programming Guide)
(Programming Organization Units) controlled by the task is defined in the task
configuration window:
• To add a POU linked to the task, use the command Add Call and select the
POU in the Input Assistant editor.
• To remove a POU from the list, use the command Remove Call.
• To replace the selected POU of the list by another one, use the command
Change Call.
• POUs are executed in the order shown in the list. To move the POUs in the
list, select a POU and use the command Move Up or Move Down.
NOTE: You can create as many POUs as you want. An application with
several small POUs, as opposed to one large POU, can improve the refresh
time of the variables in online mode.
EIO0000003059.03 29
Tasks
Task Types
Introduction
The following section describes the various task types available for your program,
along with a description of the task type characteristics.
Cyclic Task
A Cyclic task is assigned a fixed cycle time using the interval setting in the type
section of the configuration subtab for that task. Each Cyclic task type executes as
follows:
1. Read Inputs: The physical input states are written to the %I input memory
variables and other system operations are executed.
2. Task Processing: The user code (POU, and so on) defined in the task is
processed. The %Q output memory variables are updated according to
your application program instructions but not yet written to the physical
outputs during this operation.
3. Write Outputs: The %Q output memory variables are modified with the
output forcing that has been defined; however, the writing of the physical
outputs depends upon the type of output and instructions used.
For more information on defining the bus cycle task, refer to the
EcoStruxure Machine Expert Programming Guide and PLC Settings,
page 56.
For more information on I/O behavior, refer to Controller States Detailed
Description, page 39.
4. Remaining Interval time: The controller firmware carries out system
processing and other lower priority tasks.
NOTE: If you define too short a period for a cyclic task, it will repeat
immediately after the write of the outputs and without executing other lower
priority tasks or any system processing. This will affect the execution of all
tasks and cause the controller to exceed the system watchdog limits,
generating a system watchdog exception.
NOTE: When the task cycle time is set to a value less than 3 ms, the actual
task duration should first be monitored through the Task Monitoring screen
during commissioning to ensure that it is consistently lower than the
configured task cycle time. If greater, the task cycle may not be respected
without causing a task cycle watchdog time-out and the controller transitioning
to a HALT state. To avoid this condition to a certain degree, when the task
cycle time is set to a value of less than 3 ms, real limits of +1 ms are imposed
if, on any given cycle, the calculated cycle time slightly exceeds the configured
cycle time.
NOTE: Get and set the interval of a Cyclic Task by application using the
GetCurrentTaskCycle and SetCurrentTaskCycle function. (Refer to
EcoStruxure Machine Expert - Manage a Cyclic Task Interval - Toolbox_
Advance Library Guide for further details.)
30 EIO0000003059.03
Tasks
Freewheeling Task
A Freewheeling task does not have a fixed duration. In Freewheeling mode, each
task scan begins when the previous scan has been completed and after a short
period of system processing. Each Freewheeling task type executes as follows:
1. Read Inputs: The physical input states are written to the %I input memory
variables and other system operations are executed.
2. Task Processing: The user code (POU, and so on) defined in the task is
processed. The %Q output memory variables are updated according to
your application program instructions but not yet written to the physical
outputs during this operation.
3. Write Outputs: The %Q output memory variables are modified with the
output forcing that has been defined; however, the writing of the physical
outputs depends upon the type of output and instructions used.
For more information on defining the bus cycle task, refer to the
EcoStruxure Machine Expert Programming Guide and PLC Settings,
page 56.
For more information on I/O behavior, refer to Controller States Detailed
Description, page 39.
4. System Processing: The controller firmware carries out system
processing and other lower priority tasks (for example: HTTP
management, Ethernet management, parameters management).
NOTE: If you want to define the task interval, refer to Cyclic Task, page 30.
Event Task
This type of task is event-driven and is initiated by a program variable. It starts at
the rising edge of the boolean variable associated to the trigger event unless pre-
empted by a higher priority task. In that case, the Event task will start as dictated
by the task priority assignments.
For example, if you have defined a variable called my_Var and would like to
assign it to an Event, proceed as follows:
Step Action
1 Double-click the TASK in the Applications tree.
2 Select Event from the Type list in the Configuration tab.
3
Click the Input Assistant button to the right of the Event field.
Result: The Input Assistant window appears.
4 Navigate in the tree of the Input Assistant dialog box to find and assign the my_Var
variable.
NOTE: When the event task is triggered at an excessive frequency, the
controller will go to the HALT state (Exception).The maximum rate of events is
6 events per millisecond. If the event task is triggered at a higher frequency
than this, the message 'ISR Count Exceeded' is logged in the application log
page.
EIO0000003059.03 31
Tasks
External Event Task
This type of task is event-driven and is initiated by the detection of a hardware or
hardware-related function event. It starts when the event occurs unless pre-
empted by a higher priority task. In that case, the External Event task will start as
dictated by the task priority assignments.
For example, an External event task could be associated with an HSC Stop event.
To associate the HSC0_STOP event to an External event task, select it from the
External event drop-down list on the Configuration tab.
Depending on the controller, there are up to 4 types of events that can be
associated with an External event task:
• Rising edge on an advanced input (DI0...DI15)
• HSC thresholds
• HSC Stop
• CAN Sync
NOTE: CAN Sync is a specific event object, depending on the CANopen
manager configuration.
NOTE: The maximum frequency of events is 6 per millisecond. If the external
event task is triggered at a higher frequency than this, the controller goes to
the HALT state (Exception) and an “ISR Count Exceeded” message is logged
on the application log page.
System and Task Watchdogs
Introduction
Two types of watchdog functionality are implemented for the Modicon M241 Logic
Controller:
• System Watchdogs: These watchdogs are defined in and managed by the
controller firmware. These are not configurable by the user.
• Task Watchdogs: These watchdogsare optional watchdogs that you can
define for each task. These are managed by your application program and
are configurable in EcoStruxure Machine Expert.
System Watchdogs
Three system watchdogs are defined for the Modicon M241 Logic Controller. They
are managed by the controller firmware and are therefore sometimes referred to
as hardware watchdogs in the EcoStruxure Machine Expert online help. When
one of the system watchdogs exceeds its threshold conditions, an error is
detected.
The threshold conditions for the 3 system watchdogs are defined as follows:
• If all of the tasks require more than 85% of the processor resources for more
than 3 seconds, a system error is detected. The controller enters the HALT
state.
• If the total execution time of the tasks with priorities between 0 and 24
reaches 100% of processor resources for more than 1 second, an application
error is detected. The controller responds with an automatic reboot into the
EMPTY state.
• If the lowest priority task of the system is not executed during an interval of 10
seconds, a system error is detected. The controller responds with an
automatic reboot into the EMPTY state.
NOTE: System watchdogs are not configurable by the user.
32 EIO0000003059.03
Tasks
Task Watchdogs
EcoStruxure Machine Expert allows you to configure an optional task watchdog
for every task defined in your application program. (Task watchdogs are
sometimes also referred to as software watchdogs or control timers in the
EcoStruxure Machine Expert online help). When one of your defined task
watchdogs reaches its threshold condition, an application error is detected and the
controller enters the HALT state.
When defining a task watchdog, the following options are available:
• Time: This defines the maximum execution time for a task. When a task takes
longer than this, the controller will report a task watchdog exception.
• Sensitivity: The sensitivity field defines the number of task watchdog
exceptions that must occur before the controller detects an application error.
To access the configuration of a task watchdog, double-click the Task in the
Applications tree.
NOTE: For more information on watchdogs, refer to EcoStruxure Machine
Expert Programming Guide.
Task Priorities
Task Priority Configuration
You can configure the priority of each task between 0 and 31 (0 is the highest
priority, 31 is the lowest). Each task must have a unique priority. Assigning the
same priority to more than one task leads to a build error.
Task Priority Suggestions
• Priority 0 to 24: Controller tasks. Assign these priorities to tasks with a high
availability requirement.
• Priority 25 to 31: Background tasks. Assign these priorities to tasks with a low
availability requirement.
EIO0000003059.03 33
Tasks
Task Priorities of Embedded I/Os
When a task cycle starts, it can interrupt any task with lower priority (task
preemption). The interrupted task resumes when the higher priority task cycle is
finished.
NOTE: If the same input is used in different tasks the input image may change
during the task cycle of the lower priority task.
To improve the likelihood of proper output behavior during multitasking, a build
error message is displayed if outputs in the same byte are used in different
tasks.
WARNING
UNINTENDED EQUIPMENT OPERATION
Map your inputs so that tasks do not alter the input images in an unexpected
manner.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.
Task Priorities of TM2/TM3 Modules and CANopen I/Os
You can select the task that drives TM3 and CANopen physical exchanges. In the
PLC settings, select Bus cycle task to define the task for the exchange. By
default, the task is set to MAST. This definition at the controller level can be
overridden by the I/O bus configuration, page 81. During the read and write
phases, all physical I/Os are refreshed at the same time. TM3/TM2 and CANopen
data is copied into a virtual I/O image during a physical exchanges phase, as
shown in this figure:
Inputs are read from the I/O image table at the beginning of the task cycle.
Outputs are written to the I/O image table at the end of the task.
34 EIO0000003059.03
Tasks
NOTE: Event tasks cannot drive the TM3/TM2 bus cycle.
Default Task Configuration
Default Task Configuration
The MAST task can be configured in Freewheeling or Cyclic mode. The MAST
task is automatically created by default in Cyclic mode. Its preset priority is
medium (15), its preset interval is 20 ms, and its task watchdog service is
activated with a time of 100 ms and a sensitivity of 1. Refer to Task Priorities, page
33 for more information on priority settings. Refer to Task Watchdogs, page 32 for
more information on watchdogs.
Designing an efficient application program is important in systems approaching
the maximum number of tasks. In such an application, it can be difficult to keep
the resource utilization below the system watchdog threshold. If priority
reassignments alone are not sufficient to remain below the threshold, some lower
priority tasks can be made to use fewer system resources if the
SysTaskWaitSleep function, contained in the SysTask library, is added to those
tasks.
NOTE: Do not delete or change the name of the MAST task. Otherwise,
EcoStruxure Machine Expert detects an error when you attempt to build the
application, and you are not able to download it to the controller.
EIO0000003059.03 35
Controller States and Behaviors
Controller States and Behaviors
Introduction
This chapter provides information on controller states, state transitions, and
behaviors in response to system events. It begins with a detailed controller state
diagram and a description of each state. It then defines the relationship of output
states to controller states before explaining the commands and events that result
in state transitions. It concludes with information about Remanent variables and
the effect of EcoStruxure Machine Expert task programming options on the
behavior of your system.
Controller State Diagram
Controller State Diagram
Controller State Diagram
This diagram describes the controller operating mode:
Legend:
• Controller states are indicated in ALL-CAPS BOLD
• User and application commands are indicated in Bold
• System events are indicated in Italics
36 EIO0000003059.03
Controller States and Behaviors
• Decisions, decision results, and general information are indicated in normal
text
(1) For details on STOPPED to RUNNING state transition, refer to Run Command,
page 45.
(2) For details on RUNNING to STOPPED state transition, refer to Stop
Command, page 45.
Note 1
The Power Cycle (Power Interruption followed by a Power ON) deletes all output
forcing settings. Refer to Controller State and Output Behavior, page 42 for further
details.
Note 2
The outputs will assume their hardware initialization values.
Note 3
In some cases, when a system error is detected, it will cause the controller to
reboot automatically into the EMPTY state as if no Boot application were present
in the non-volatile memory. However, the Boot application is not deleted from the
non-volatile memory. In this case, the ERR LED (red) flashes regularly.
Note 4
After verification of a valid Boot application the following events occur:
• The application is loaded into RAM.
• The Post Configuration, page 161 file settings (if any) are applied.
During the load of the boot application, a Check context test occurs to verify that
the Remanent variables are valid. If the Check context test is invalid, the boot
application will load but the controller will transitions to the STOPPED state, page
48.
Note 5a
The Starting Mode is set in the PLC settings tab of the Controller Device
Editor, page 56.
Note 5b
When a power interruption occurs, the controller continues in the RUNNING state
for at least 4 ms before shutting down. If you have configured and provide power
to the Run/Stop input from the same source as the controller, the loss of power tothis input will be detected immediately, and the controller will behave as if a STOP
command was received. Therefore, if you provide power to the controller and the
Run/Stop input from the same source, your controller will normally reboot into the
STOPPED state after a power interruption when Starting Mode is set to Start as
previous state.
Note 6
During a successful application download the following events occur:
• The application is loaded directly into RAM.
• By default, the Boot application is created and saved into the non-volatile
memory.
EIO0000003059.03 37
Controller States and Behaviors
Note 7
The default behavior after downloading an application program is for the controller
to enter the STOPPED state irrespective of the Run/Stop input setting, the Run/
Stop switch position or the last controller state before the download.
However, there are 2 considerations in this regard:
Online Change: An online change (partial download) initiated while the controller is in the
RUNNING state returns the controller to the RUNNING state if successful
and provided the Run/Stop input is configured and set to Run or Run/Stop
switch is set to Run. Before using the Login with online change option,
test the changes to your application program in a virtual or non-production
environment and confirm that the controller and attached equipment
assume their expected conditions in the RUNNING state.
WARNING
UNINTENDED EQUIPMENT OPERATION
Always verify that online changes to a RUNNING
application program operate as expected before
downloading them to controllers.
Failure to follow these instructions can result in
death, serious injury, or equipment damage.
NOTE: Online changes to your program are not automatically written
to the Boot application, and will be overwritten by the existing Boot
application at the next reboot. If you wish your changes to persist
through a reboot, manually update the Boot application by selecting
Create boot application in the online menu (the controller must be
in the STOPPED state to achieve this operation).
Multiple Download: EcoStruxure Machine Expert has a feature that allows you to perform a
full application download to multiple targets on your network or fieldbus.
One of the default options when you select the Multiple Download...
command is the Start all applications after download or online change
option, which restarts all download targets in the RUNNING state,
provided their respective Run/Stop inputs are commanding the RUNNING
state, but irrespective of their last controller state before the multiple
download was initiated. Deselect this option if you do not want all targeted
controllers to restart in the RUNNING state. In addition, before using the
Multiple Download option, test the changes to your application program
in a virtual or non-production environment and confirm that the targeted
controllers and attached equipment assume their expected conditions in
the RUNNING state.
WARNING
UNINTENDED EQUIPMENT OPERATION
Always verify that your application program will operate
as expected for all targeted controllers and equipment
before issuing the "Multiple Download..." command with
the "Start all applications after download or online
change" option selected.
Failure to follow these instructions can result in
death, serious injury, or equipment damage.
NOTE: During a multiple download, unlike a normal download,
EcoStruxure Machine Expert does not offer the option to create a
Boot application. You can manually create a Boot application at any
time by selecting Create boot application in the Online menu on all
targeted controllers.
Note 8
The EcoStruxure Machine Expert software platform allows many powerful options
for managing task execution and output conditions while the controller is in the
STOPPED or HALT states. Refer to Controller States Description, page 39 for
further details.
38 EIO0000003059.03
Controller States and Behaviors
Note 9
To exit the HALT state it is necessary to issue one of the Reset commands (Reset
Warm, Reset Cold, Reset Origin), download an application or cycle power.
In case of non-recoverable event (hardware watchdog or internal error), a power
cycle is mandatory.
Note 10
The RUNNING state has 2 exception conditions:
• RUNNING with External Error: this exception condition is indicated by the I/O
LED, which displays solid red. You may exit this state by clearing the external
error (probably changing the application configuration). No controller
commands are required, but may however include the need of a power cycle
of the controller. For more information, refer to I/O Configuration General
Description, page 78.
• RUNNING with Breakpoint: this exception condition is indicated by the RUN
LED, which displays a single green flash. Refer to Controller States
Description, page 39 for further details.
Note 11
The boot application can be different from the application loaded. It can happen
when the boot application was downloaded through SD card, FTP, or file transfer
or when an online change was performed without creating the boot application.
Controller States Description
Controller States Description
Introduction
This section provides a detailed description of the controller states.
WARNING
UNINTENDED EQUIPMENT OPERATION
• Never assume that your controller is in a certain controller state before
commanding a change of state, configuring your controller options,
uploading a program, or modifying the physical configuration of the controller
and its connected equipment.
• Before performing any of these operations, consider the effect on all
connected equipment.
• Before acting on a controller, always positively confirm the controller state by
viewing its LEDs, confirming the condition of the Run/Stop input, verifying
the presence of output forcing, and reviewing the controller status
information via EcoStruxure Machine Expert.(1)
Failure to follow these instructions can result in death, serious injury, or
equipment damage.
(1) The controller states can be read in the PLC_R.i_wStatus system variable of
the M241 PLCSystem library (see Modicon M241 Logic Controller, System
Functions and Variables, PLCSystem Library Guide)
Controller States Table
The following table describes the controller states:
EIO0000003059.03 39
Controller States and Behaviors
Controller State Description LED
RUN
(Green)
ERR
(Red)
I/O
(Red)
BOOTING The controller executes the boot firmware and its own internal self-tests. It then
checks the checksum of the firmware and user applications.
OFF OFF ON
OFF ON ON
OFF ON OFF
INVALID_OS There is not a valid firmware file present in the non-volatile memory. The
controller does not execute the application. Refer to Firmware Management,
page 175 to restore a correct state.
OFF Regular
flash
OFF
EMPTY The controller has no application. OFF Single
flash
OFF
EMPTY after a
system error
detected
This state is the same as the other EMPTY state. However the application is
present, and is intentionally not loaded. A reboot (power cycle), or a new
application download, restores a correct state.
OFF Fast
flash
OFF
RUNNING The controller is executing a valid application. ON OFF OFF
RUNNING with
breakpoint
This state is same as the RUNNING state with the following exceptions:
• The task-processing portion of the program does not resume until the
breakpoint is cleared.
• The LED indications are different.
For more information on breakpoint management, refer to EcoStruxure Machine
Expert Programming Guide.
Single
flash
OFF OFF
RUNNING with
external error
detected
The controller is executing a valid application and a configuration, TM3, SD card,
or other I/O error is detected.
When I/O LED is ON, the details about the detected error can be found in PLC_R.
i_lwSystemFault_1 and PLC_R.i_lwSystemFault_2. Any of the detected error
conditions reported by these variables cause the I/O LED to be ON.
ON OFF ON
STOPPED The controller has a valid application that is stopped. See details of the